TMP Powered C++ Pretty PrinterBeing able to pretty print STL containers is an important task for any application that uses the STL. Since standard containers don't overload operator << nor provide a printing function, having a modular,generic pretty printing class allows one to print co...

Lego Mindstorms NXT Autonomous Navigation Tutorial UPDATEIn my previous post regarding autonomous navigation for the Lego Mindstorms NXT, I linked a youtube video series about how I planned on implementing it. While the video series is yet to come, the full code for the autonomous driving is available on GitHub: ...

Slight, yet Profound Change to Williams Parallel Quicksort AlgorithmUpon reading Anthony Williams' excellent book on concurrency and mutlithreaded programming in C++, C++ Concurrency In Action , I wanted to take a step further in analyzing the parallel quicksort algorithm used and developed throughout the chapters that is ...

Buffer Overflow Exploit : picoCTF 2014 Best_Shell Writeup" This shell is super useful! See if you can get the flag! The binary can be found at /home/best_shell/ on the shell server. The source can be downloaded here ." -- problem definition This was perhaps one of the most straightforward problems to solve th...

XSS Attack : Exploring picoCTF 2014 secure_page_service" The bad guys have hidden their access codes on an anonymous secure page service . Our intelligence tells us that the codes was posted on a page with id 43440b22864b30a0098f034eaf940730ca211a55, but unfortunately it's protected by a password, and only sit...

picoCTF 2014 SQL Injection 1 WriteupIn this series pf writeups we'll be dissecting SQL injections to solve picoCTF challenges. There will be a total of 4 articles in this series, with each one going a bit more in depth and using different SQL injection techniques to exploit vulnerabilities pr...

Anatomy of an ROP Attack with picoCTF ROP3In this article, we will learn the fundamentals of Return Oriented Programming (ROP) while dissecting a picoCTF problem regarding ROP. This will serve primarily as a primer/introduction to ROP, while the next article (ROP4 Writeup) will be a continued appli...

Surviving a Kidnapping : Particle Filter StyleIn this article we will see how particle filters when used in Mobile Robot Localization, such as in Sequential Monte Carlo, can be implemented to be versatile enough to handle a robot kidnapping -- that is , a robot being randomly removed from its track. T...

Extended Kalman Filter Example With CodeIn this article we will look into using an Extended Kalman Filter (EKF) for estimating the state of a (simulated) moving vehicle. This article is inspired by the Udacity CS373 : Programming a Robotic Car course. We can use a Kalman Filter to estimate the ne...